A mass less rigid link pqr rotates about a pivot and is restrained by two springs withspring constantsk1andk2,andadashpotwithdampingcoefficientb.Amassmis sus-pended from one end of the link at pointRand is constrained to move in the verticaldirection. The springs are unstretched when the link is in thehorizontalorientation.Assuming small angular rotations, and that the system acts inthepresenceofgravity,derive the equation(s) of motion of the system.
